Quantity   Component name
1 × BeagleBone Blue single board computer Used to control all robot functions
1 × Brushless -77kPa parallel micro vacuum pump HXB05KNDC 12V EPDM Pump has 2 heads: one connected to the left foot, other to the right foot.
2 × Pololu voltage regulators U3V50AHV One converter boosts 2S LiPo battery output to 12V for vacuum pump, other to 12V for Dynamixels
2 × High speed rotary pneumatic joints KSL 06-01S Allows wheels to turn while providing vacuum to suction cups
2 × Nitrile or silicone rubber o-rings 95mm ID, 105mm OD, 5mm width for tires
2 × 2 inline vacuum filters ZFB200-06B To prevent dust from entering vacuum pump
2 × 3-way pneumatic fittings SPE-6 Allows to connect 3 pneumatic tubes
2 × Vacuum suction cups 10 cm diameter
1 × UVA+UVC LED For disinfection function. Also useful for testing for counterfeit banknotes
2 × HN12-I101 horn sets for Dynamixels For attaching freely rotating bracket to other side of Dynamixels
1 × Pneumatic air tubing 6mm OD, 4mm ID
2 × Toggle switches One 3PDT for battery charging wires and one 2PDT for battery discharge wires
2 × 6704ZZ Deep groove ball bearings 20x27x4mm Ideally crossed roller bearings should be used but they are very expensive
4 × Dynamixel XM430-W350-T servo motors For locomotion
7 × Neodymium magnets 4x4x15mm 3 for tool holders on robot body, 3 for tools and 1 on wheel
1 × U2D2 converter Allows to control Dynamixel servo motors via USB
2 × KingMax CLS4406HHV high voltage servo motors For controlling pneumatic valves
1 × 2S LiPo battery I used 1500mAh battery but robot is capable of carrying a bigger battery
1 × USB hub Optional for webcam as U2D2 converter uses up the only USB port on BeagleBone Blue
1 × Screws Most holes on 3D printed parts use M3 screws but could be easily adapted for other sizes